import Interface.BluetoothNXT;
import lejos.nxt.Motor;
import lejos.nxt.SensorPort;
import lejos.nxt.UltrasonicSensor;
import lejos.robotics.navigation.TachoPilot;


public class MainTest {
	public static void main(String [] args) throws InterruptedException{
		final float leftWheelDiameter = (float) 5.43; 
		final float rightWheelDiameter = (float) 5.43;
		final float trackWidth = (float) 16.18;
		Motor leftMotor = Motor.B;
		Motor rightMotor = Motor.C;
		TachoPilot pilot = new TachoPilot(leftWheelDiameter, rightWheelDiameter, trackWidth, leftMotor, rightMotor, true);
		UltrasonicSensor sonicSensor = new UltrasonicSensor(SensorPort.S2);
		
		Panic panicTest = new Panic(pilot, sonicSensor, new BluetoothNXT(pilot));
		panicTest.action();
	}		 
}  
